Get things building and running

include/mav/MessageSet.h

@@ -44,6 +44,9 @@
 #include "rapidxml/rapidxml.hpp"
 #include "rapidxml/rapidxml_utils.hpp"
 
+// Hack to avoid filesystem issues on windows
+#define _NO_STD_FILESYSTEM
+
 #ifdef _LIBCPP_VERSION
 #if _LIBCPP_VERSION < 11000
 #define _NO_STD_FILESYSTEM

include/mav/TCPClient.h

@@ -35,13 +35,20 @@
 #ifndef LIBMAVLINK_TCP_H
 #define LIBMAVLINK_TCP_H
 
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
+#include <winsock2.h>
+#include <winsock.h>
+#include <ws2tcpip.h>
+#include <fcntl.h>    /* For O_RDWR */
+#include <unistd.h>   /* For open(), creat() */
+#include <stdint.h>
+
+// #include <sys/socket.h>
+// #include <netinet/in.h>
+// #include <arpa/inet.h>
 #include <atomic>
 #include <unistd.h>
 #include <csignal>
-#include <netdb.h>
+// #include <netdb.h>
 #include "Network.h"
 
 namespace mav {
@@ -84,7 +91,7 @@ namespace mav {
         void stop() {
             _should_terminate.store(true);
             if (_socket >= 0) {
-                ::shutdown(_socket, SHUT_RDWR);
+                ::shutdown(_socket, SD_BOTH);
                 ::close(_socket);
                 _socket = -1;
             }

include/mav/TCPServer.h

@@ -34,21 +34,28 @@
 
 #ifndef LIBMAVLINK_TCPSERVER_H
 #define LIBMAVLINK_TCPSERVER_H
-#include <sys/socket.h>
-#include <sys/poll.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-#include <atomic>
+/* clang-format off */
+#include <winsock.h>
+#include <winsock2.h>
+/* clang-format on */
+#include <ws2tcpip.h>
+
+#include "poll.h"
+// #include <sys/poll.h>
+// #include <netinet/in.h>
+// #include <arpa/inet.h>
+#include <sys/fcntl.h>
 #include <unistd.h>
+
+#include <atomic>
 #include <csignal>
+
 #include "Network.h"
-#include <sys/fcntl.h>
 
 namespace mav {
 
     class TCPServer : public mav::NetworkInterface {
-
-    private:
+      private:
         mutable std::atomic_bool _should_terminate{false};
         int _master_socket = -1;
         mutable std::mutex _client_sockets_mutex;
@@ -106,19 +113,22 @@ namespace mav {
     public:
 
         TCPServer(int port) {
+            WSADATA wsaData;
+            WSAStartup(MAKEWORD(1, 0), &wsaData);
             _master_socket = socket(AF_INET, SOCK_STREAM, 0);
             if (_master_socket < 0) {
                 throw NetworkError("Could not create socket: " + std::to_string(_master_socket));
             }
 
             // Mark socket as non-blocking
-            if (fcntl(_master_socket, F_SETFL, O_NONBLOCK) < 0) {
+            u_long mode = 1;  // 1 to enable non-blocking socket
+            if (ioctlsocket(_master_socket, FIONBIO, &mode) < 0) {
                 ::close(_master_socket);
                 throw NetworkError("Could not set socket to non-blocking", errno);
             }
 
-            const int enable = 1;
-            if (setsockopt(_master_socket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(int)) < 0) {
+            const char enable = 1;
+            if (setsockopt(_master_socket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(char))) {
                 ::close(_master_socket);
                 throw NetworkError("Could not set socket options", errno);
             }
@@ -144,14 +154,14 @@ namespace mav {
             _should_terminate.store(true);
             if (_master_socket >= 0) {
                 _removeFd(_master_socket);
-                ::shutdown(_master_socket, SHUT_RDWR);
+                ::shutdown(_master_socket, SD_BOTH);
                 ::close(_master_socket);
                 _master_socket = -1;
             }
             std::lock_guard<std::mutex> lock(_client_sockets_mutex);
             for (auto client_socket : _partner_to_fd) {
                 _removeFd(client_socket.second);
-                ::shutdown(client_socket.second, SHUT_RDWR);
+                ::shutdown(client_socket.second, SD_BOTH);
                 ::close(client_socket.second);
             }
             _partner_to_fd.clear();
@@ -276,6 +286,7 @@ namespace mav {
 
         virtual ~TCPServer() {
             stop();
+            WSACleanup();
         }
 
     };

include/mav/UDPClient.h

@@ -35,9 +35,20 @@
 #ifndef LIBMAVLINK_UDPCLIENT_H
 #define LIBMAVLINK_UDPCLIENT_H
 
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
+#include <winsock2.h>
+#include <winsock.h>
+#include <ws2tcpip.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdint.h>
+
+// #include <sys/poll.h>
+// #include <netinet/in.h>
+// #include <arpa/inet.h>
+
+// #include <sys/socket.h>
+// #include <netinet/in.h>
+// #include <arpa/inet.h>
 #include <atomic>
 #include <vector>
 #include <array>
@@ -86,7 +97,7 @@ namespace mav {
         void stop() {
             _should_terminate.store(true);
             if (_socket >= 0) {
-                ::shutdown(_socket, SHUT_RDWR);
+                ::shutdown(_socket, SD_BOTH);
                 ::close(_socket);
                 _socket = -1;
             }
@@ -101,7 +112,7 @@ namespace mav {
             while (_bytes_available < size && !_should_terminate.load()) {
                 // If there are residual bytes from last packet, but not enough for parsing new packet, clear out
                 _bytes_available = 0;
-                ssize_t ret = ::recvfrom(_socket, _rx_buffer.data(), RX_BUFFER_SIZE, 0,
+                ssize_t ret = ::recvfrom(_socket, (char*)_rx_buffer.data(), RX_BUFFER_SIZE, 0,
                                          (struct sockaddr *) nullptr, nullptr);
                 if (ret < 0) {
                     throw NetworkError("Could not receive from socket", errno);
@@ -121,7 +132,7 @@ namespace mav {
 
         void send(const uint8_t *data, uint32_t size, ConnectionPartner) override {
             // no need to specify target here, as we called the udp connect function in constructor
-            if (sendto(_socket, data, size, 0, (struct sockaddr *) nullptr, 0) < 0) {
+            if (sendto(_socket, (const char*)data, size, 0, (struct sockaddr *) nullptr, 0) < 0) {
                 throw NetworkError("Could not send to socket", errno);
             }
         }

include/mav/UDPServer.h

@@ -35,11 +35,13 @@
 #ifndef LIBMAVLINK_UDPSERVER_H
 #define LIBMAVLINK_UDPSERVER_H
 
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
+#include <winsock2.h>
+// #include <sys/socket.h>
+// #include <netinet/in.h>
+// #include <arpa/inet.h>
 #include <atomic>
 #include <unistd.h>
+#include <ws2tcpip.h>
 #include <vector>
 #include <array>
 #include <csignal>
@@ -79,7 +81,7 @@ namespace mav {
         void stop() const {
             _should_terminate.store(true);
             if (_socket >= 0) {
-                ::shutdown(_socket, SHUT_RDWR);
+                ::shutdown(_socket, SD_BOTH);
                 ::close(_socket);
             }
         }
@@ -95,7 +97,7 @@ namespace mav {
                 _bytes_available = 0;
                 struct sockaddr_in source_address{};
                 socklen_t source_address_length = sizeof(source_address);
-                ssize_t ret = ::recvfrom(_socket, _rx_buffer.data(), RX_BUFFER_SIZE, 0,
+                ssize_t ret = ::recvfrom(_socket, (char*)_rx_buffer.data(), RX_BUFFER_SIZE, 0,
                                      (struct sockaddr*)&source_address, &source_address_length);
                 if (ret < 0) {
                     throw NetworkError("Could not receive from socket", errno);
@@ -130,7 +132,7 @@ namespace mav {
             server_address.sin_port = target.port();
             server_address.sin_addr.s_addr = target.address();
 
-            if (sendto(_socket, data, size, 0, (struct sockaddr *) &server_address, sizeof(server_address)) < 0) {
+            if (sendto(_socket, (const char*)data, size, 0, (struct sockaddr *) &server_address, sizeof(server_address)) < 0) {
                 ::close(_socket);
                 throw NetworkError("Could not send to socket", errno);
             }

include/mav/poll.h

@@ -0,0 +1,63 @@
+#ifndef __POLL_H
+#define __POLL_H
+
+#include <io.h>
+#include <winsock.h>
+
+#include <cstdint>
+#define POLLIN 0x0001
+#define POLLPRI 0x0002 /* not used */
+#define POLLOUT 0x0004
+#define POLLERR 0x0008
+#define POLLHUP 0x0010 /* not used */
+#define POLLNVAL 0x0020 /* not used */
+
+struct pollfd {
+int fd;
+int events = 0;  /* in param: what to poll for */
+int revents = 0; /* out param: what events occured */
+};
+
+int poll (struct pollfd *p, int num, int timeout) 
+{
+    struct timeval tv;
+    fd_set read, write, except;
+    int i, n, ret;
+
+    FD_ZERO(&read);
+    FD_ZERO(&write);
+    FD_ZERO(&except);
+
+    n = -1;
+    for (i = 0; i < num; i++) {
+        if (p[i].fd < 0) continue;
+        if (p[i].events & POLLIN) FD_SET(p[i].fd, &read);
+        if (p[i].events & POLLOUT) FD_SET(p[i].fd, &write);
+        if (p[i].events & POLLERR) FD_SET(p[i].fd, &except);
+        if (p[i].fd > n) n = p[i].fd;
+    }
+
+    if (n == -1) return (0);
+
+    if (timeout < 0)
+        ret = select(n + 1, &read, &write, &except, NULL);
+    else {
+        tv.tv_sec = timeout / 1000;
+        tv.tv_usec = 1000 * (timeout % 1000);
+        ret = select(n + 1, &read, &write, &except, &tv);
+    }
+
+    for (i = 0; ret >= 0 && i < num; i++) {
+        p[i].revents = 0;
+        if (FD_ISSET(p[i].fd, &read)) p[i].revents |= POLLIN;
+        if (FD_ISSET(p[i].fd, &write)) p[i].revents |= POLLOUT;
+        if (FD_ISSET(p[i].fd, &except)) p[i].revents |= POLLERR;
+    }
+    return (ret);
+};
+
+int read(int one, uint8_t two, int three) {
+    return 0;
+}
+
+#endif /* __POLL_H */

tests/MessageSet.cpp

@@ -1,7 +1,6 @@
 //
 // Created by thomas on 01.02.23.
 //
-#include <filesystem>
 #include "doctest.h"
 #include "mav/MessageSet.h"
 #include "minimal.h"
@@ -17,7 +16,7 @@ std::string dump_minimal_xml() {
     std::ofstream out(xml_file);
     out << minimal_xml;
     out.close();
-    return xml_file;
+    return xml_file.u8string();
 }
 
 TEST_CASE("Message set creation") {